CN101868695A - Inductive position sensor - Google Patents

Inductive position sensor Download PDF

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Publication number
CN101868695A
CN101868695A CN200880117290A CN200880117290A CN101868695A CN 101868695 A CN101868695 A CN 101868695A CN 200880117290 A CN200880117290 A CN 200880117290A CN 200880117290 A CN200880117290 A CN 200880117290A CN 101868695 A CN101868695 A CN 101868695A
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CN
China
Prior art keywords
coil
emitter
invention according
receiver coil
receiver
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Granted
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CN200880117290A
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Chinese (zh)
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CN101868695B (en
Inventor
J·K·李
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KSR Technologies Co
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KSR Technologies Co
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/2006Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2013Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01DMEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471Error correction
    • G01D5/24476Signal processing

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Signal Processing (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

A position sensor having a transmitter coil with both an outer loop portion and an inner loop portion. A receiver coil is disposed in close proximity to the transmitter coil and the receiver coil includes a first loop and an oppositely wound second loop. The receiver coil generates an electrical output signal when the transmitter coil is excited due to the inductive coupling between the transmitter and receiver coils. A movable coupler element varies the inductive coupling between the transmitter coil and the loops of the receiver coil as a function of the position of the coupler element.

Description

Inductive position sensor
Cross-reference to related applications
The sequence number that the application requires on September 21st, 2007 to submit to is that 60/974,206 U.S. Provisional Patent Application and the sequence number submitted on September 16th, 2008 are the right of priority of 12/211,360 U.S. Patent application, and these are applied for by being incorporated herein by reference.
Technical field
Relate generally to position transducer of the present invention, and relate more specifically to inductive position sensor.
Background technology
In motor vehicles, gas pedal (throttle pedal) is mechanically connected to engine throttle by cable traditionally.Yet in more modern vehicle, throttle position switch is mechanically connected on the pedal and produces the electrical output signal that the expression gas pedal is stepped on degree.This type systematic usually is called as " Flight By Wire (fly-by-wire) " system.
In one type throttle position switch, emitter coil or exciter coil are encouraged by high frequency source so that this emitter coil produces electromagnetic radiation.In addition, this emitter coil is configured to circular-mode, although also can use interchangeable other patterns.
Receiver coil also is set in the position transducer, and it is very near emitter coil.Therefore, in case to the emitter coil energising, because the coupling of the induction between emitter coil and the receiver coil, receiver coil produces output signal.
Yet different with emitter coil, receiver coil comprises first ring and second ring, and second ring oppositely twines with respect to first ring.Therefore, the induction coupling between first of emitter coil and the receiver coil ring produces the opposite voltage of responding to emitter coil of polarity of voltage in second ring of receiver coil.Therefore, the receiver output signal is from first ring of receiver coil and the combination or the summation of second voltage signal that encircles.
In order to produce the output signal of expression throttle position, coupler component be rotatably installed on the position transducer and with the stepping on and discharge synchronous rotation of gas pedal.In addition, this coupler component is made of the material of the electromagnetic radiation of conduction emitter coil emission.This coupler component covers the part of emitter coil and receiver coil.Therefore, in case coupler component moves or rotates, first ring of transmitter and receiver coil and the induction coupling between second ring are changed.This produces the output signal from receiver coil conversely, and this output signal changes along with the position, angle of coupler component, and therefore changes along with the position, angle of the gas pedal that is mechanically connected to coupler component.
If coupler component is accurately concentric with emitter coil and receiver coil, if and during whole the moving of coupler component, it is constant that spacing between coupler component and emitter coil and the receiver coil keeps, and the accurate indication and the therefore accurate position, angle of indicating gas pedal of the position, angle of coupler component then is provided from the output of receiver coil.Yet, in fact, during the manufacturing of accelerator pedal position sensor, manufacturing tolerance usually make in the throttle position switch coupler component not with emitter coil and receiver coil is accurately concentric and/or coupler component and emitter coil and receiver coil between the gap different with the gap of expectation a little.
Used different strategies to compensate the proper alignment that lacks between the axis of the pivot axis of coupler component and emitter coil and receiver coil.Yet the gap that these strategies are not enough to compensate between coupler component and emitter coil and the receiver coil changes, so that satisfy the accuracy requirement of accelerator pedal sensor.
Summary of the invention
The invention provides a kind of throttle position switch, it has overcome the above-mentioned shortcoming of present known throttle position switch.
In brief, throttle position switch of the present invention comprises the emitter coil that twines with circular configuration.Emitter coil is by the high-frequency alternating current source forcing, so that during energising, emitter coil produces electromagnetic radiation.
Receiver coil also is provided in the throttle position switch, and it is very near emitter coil.Receiver coil comprises first ring and second ring that oppositely twines, and first ring and second ring are electrically connected in series mutually.Yet because first ring of receiver coil and second ring oppositely twine mutually, the voltage of induction will be opposite with the polarity of voltage that emitter coil is responded in the second receiver ring in first ring when emitter coil is energized.Voltage summation in the receiver ring forms the output signal from throttle position switch.
Coupler component is movably mounted with respect to emitter coil and receiver coil.This coupler component passes the induction coupling of first ring and second ring of emitter coil and receiver coil along with the angle position change of coupler component.Conversely, the position, angle of coupler component changes along with the position of gas pedal.For example, coupler component moves the induction coupling between first ring that can increase emitter coil and receiver coil and reduces induction coupling between second ring of emitter coil and receiver coil simultaneously in the rotation of a direction, therefore change the output signal from receiver coil.The rotation of coupler component on opposite sense of rotation produces a contrary effect.
For the gap that compensates between coupler component and emitter coil and the receiver coil changes, emitter coil comprises outer ring portion and annular inner portion, and this annular inner portion is radially inwardly spaced apart with outer ring portion.Then, axially modulator or reference coil are wrapped between the interior part and outside branch of emitter coil, and receiver coil covers at least a portion of the outer shroud of emitter coil simultaneously.In fact, the interior ring that emitter coil is provided is by changing in the gap that provides extra induction compensating for coupling between emitter coil and the reference coil between coupler component and emitter coil and the receiver coil.
Description of drawings
Also will understand the present invention better in conjunction with the accompanying drawings with reference to following detailed description, similar in the accompanying drawings reference marker is indicated the similar parts in a plurality of views, wherein:
Fig. 1 is the planimetric map that comprises the printed circuit board (PCB) of emitter coil;
Fig. 2 is the planimetric map with printed circuit board (PCB) of emitter coil, receiver coil and reference coil;
Fig. 3 is the exploded view of the preferred embodiment of sensor of the present invention;
Fig. 4 is the side view of the preferred embodiment of the present invention; And
Fig. 5 is the planimetric map of exemplary coupler component.
Embodiment
At first with reference to figure 1, it shows the part of throttle position switch 10, for the clear part throttle position switch 10 that removed.Throttle position switch 10 comprises printed circuit board (PCB) 12, and this printed circuit board (PCB) 12 is generally comprised within the shell 15 (Fig. 4) with not contaminated and/or other damages of protection printed circuit board (PCB) 12.
Emitter coil 14 is formed on the printed circuit board (PCB) 12 in a usual manner.This emitter coil 14 comprises outer ring portion 16 and annular inner portion 18.The outer ring portion 16 of emitter coil and annular inner portion 18 with circular configuration around axis 22 twine and outer ring portion 16 and annular inner portion 18 in all windings of emitter coil 14 all be oriented identical sense of rotation.
Still with reference to figure 1, the end of emitter coil 14 is coupled to high-frequency ac power 24.In case AC power 24 is activated or switches on, the outer ring portion 16 and the annular inner portion 18 of emitter coil 14 produce electromagnetic radiation in the mode of knowing.
With reference now to Fig. 2 and Fig. 3,, have at least two rings 32 that oppositely twine and 34 receiver coil 30 and also utilize conventional printed circuit board (PCB) manufacturing technology to be formed on the printed circuit board (PCB) 12, so that receiver coil is set at the position of the outer ring portion 16 of very close emitter coil 14.In addition, Fig. 2 and Fig. 3 illustrate receiver coil and comprise five and twine clockwise 32 and five of sections and twine section 34 counterclockwise, so that section 32 and 34 equates on angle square cun and the axis 22 on printed circuit board (PCB) 12 replaces mutually.Yet Fig. 2 and Fig. 3 illustrate five electrode structures by way of example rather than are limited excessively.In addition, only essential is that receiver coil has at least two rings 32 and 34 that oppositely twine.
All rings 32 and 34 of receiver coil 30 are electrically connected in series mutually.Therefore, the voltage in the output 38 of receiver coil equals the summation of all the receiver rings 32 and 34 the voltage of receiver coil 30.Receiver output 38 is connected to circuit 39, and this circuit is special IC (ASIC) normally, and its processing and linearization are from the output of receiver coil 30.
Still also utilize conventional printed circuit board (PCB) manufacturing technology to be formed on the printed circuit board (PCB) 12 referring to figs. 2 and 3 a, reference coil or an axle modulator coil 40.The outer shroud 43 that reference coil 40 has annular inner portion 41 and oppositely twines, wherein annular inner portion 41 the interior part 16 of emitter coil 14 and outside between the part 18, the outer shroud 43 that oppositely twines is positioned on the printed circuit board (PCB) 12 around the periphery of receiver coil 30.The ring 41 of receiver coil 40 and the 43 sensed emitter coils 14 that are coupled to, ring 41 or oppositely winding different mutually with 43.Therefore, in case stimulated emission device coil 14, emitter coil induces voltage in the ring 41 and 43 of reference coil 40.Yet the polarity of the voltage of induction has opposite polarity with second voltage that encircles induction in 43 of reference coil 40 in the coil 41 of reference coil 40.
The ring 41 of reference coil 40 and 43 is electrically connected in series mutually, so that comprise voltage on the ring 41 and 43 of reference coil 40 from the output 46 of reference coil 40 and or poor.Electricity output 46 from reference coil 40 also is connected to circuit 39.
With reference now to Fig. 4 and Fig. 5,, coupler component 50 is positioned in the shell 15, so that coupler component 50 covers printed circuit board (PCB) 12 but be spaced apart with gap x with printed circuit board (PCB) 12.In addition, this coupler component 50 is rotated by axle 52 and is installed on the shell, and this is 52 coaxial with the axis 22 (Fig. 1) of emitter coil 14.
Fig. 4 and Fig. 5 illustrate coupler component 50 and have five blade/teats (lobe) 54, and its size and dimension is corresponding with the ring 32 and 34 of receiver coil 30.Should be appreciated that also the coupler component 50 shown in Fig. 5 only is to be illustrated at five utmost point position transducers.This position transducer can comprise still less or the more utmost point and do not depart from thought of the present invention or scope.
Coupler component 50 is made of the material that can conduct the electromagnetic radiation that is produced when emitter coil 14 is switched on by source of high frequency current 24 (Fig. 1).Therefore, the induction coupling between the ring 32 and 34 of emitter coil below the blade 54 change coupling mechanisms 50 of coupler component 50, especially coupler component and receiver coil 30.
Therefore, will increase the induction coupling of first ring between 32 of emitter coil 14 and receiver coil 30 at rotary coupler element 50 on the sense of rotation, the induction that reduces simultaneously between second ring 34 of emitter coil 14 and receiver coil 30 is coupled.Rotary coupler element 50 will produce a contrary effect on opposite sense of rotation.
Any situation no matter, by the induction coupling between the reverse winding around 32 and 34 that changes receiver coil 30 along with the position of rotation of coupler component 50, output voltage in the receiver coil output 38 will change equally, thereby produce the signal of the position of rotation of indication coupler component 50, this signal is handled with linearization by circuit 39 or is otherwise handled output signal.Coupler component 50 further is mechanical coupling to the assembly of throttle, feasible position of indicating throttle from the output signal of sensor 10.
Though the induction between the ring 32 and 34 of emitter coil 14 and receiver coil 30 coupling is along with the position of rotation of coupler component 50 changes, the induction coupling between the ring 41 and 43 of emitter coil 14 and reference coil 40 is independently and not along with the position of rotation variation of coupler component 50.Yet the induction coupling between the reverse winding ring 41 and 43 of reference coil 40 is really along with the gap x between coupler component 50 and the reference coil 40 changes.
The interior part 18 that has been found that emitter coil 14 keeps ratiometer function (ratiometric function) R (x) constant substantially with the surplus induction coupling that reference coil 40 provides, although gap x has the little variation of appropriateness, wherein R (x) is defined as:
R(x)=RM(x)/AM(x)
Wherein RM equals the output from receiver coil 30, and AM equals from the voltage in the output of reference coil 40, and x equals the value in the gap between coupler component 50 and the printed circuit board (PCB) 12.
In fact, it is constant substantially that function R keeps, although all there are the variation of appropriateness in emitter coil 14 on coupler component 50 and the printed circuit board (PCB) 12 and the gap x between the receiver coil 30.This further can improve the overall accuracy of throttle position switch 10.
According to above, the invention provides simply and efficiently position transducer as can be seen, such as throttle position switch,, uses by this sensor but also can being used for other.Yet, described after the present invention, apparent to those skilled in the art to its many modifications, it does not depart from the thought of the present invention that the scope by the claim of enclosing limits.

Claims (12)

1. position transducer, it comprises:
Emitter coil, it has outer ring portion and annular inner portion, and described emitter coil produces electromagnetic radiation when being subjected to the electric power source excitation;
Receiver coil, it is arranged in very close described transmitter annular inner portion and the outer ring portion at least one, second ring that described receiver coil has first ring at least and oppositely twines, when described emitter coil was energized owing to the coupling of the induction between described emitter coil and the described receiver coil, described receiver coil produced electrical output signal;
Removable coupler component, its position along with described coupler component change the induction coupling between the described ring of described emitter coil and described receiver coil, thereby change the described electrical output signal from described receiver coil;
Reference coil, it is set between the described annular inner portion and described outer ring portion of described emitter coil, when described emitter coil is energized owing to the coupling of the induction between described emitter coil and the described reference coil, described reference coil produces electric output reference signal, and the coupling between wherein said emitter coil and the described reference coil is independent of the position of described coupler component.
2. invention according to claim 1, wherein said emitter coil is formed on the printed circuit board (PCB).
3. invention according to claim 1, the described annular inner portion of wherein said emitter coil and described outer ring portion are twined with the concentric circles pattern.
4. invention according to claim 1, wherein said receiver coil is formed on the printed circuit board (PCB).
5. invention according to claim 1, wherein said reference coil is formed on the printed circuit board (PCB).
6. invention according to claim 1, wherein said coupler component is a metal.
7. invention according to claim 1, wherein said receiver coil cover the described outer ring portion of described emitter coil.
8. invention according to claim 1, wherein said coupler component can be around the axis rotation with respect to described emitter coil.
9. invention according to claim 1, wherein said receiver coil are set at described first ring of described receiver coil and replacing in the section of described second ring.
10. invention according to claim 10, the described alternately section of wherein said receiver coil is configured to the circular-mode around predetermined axial line.
11. invention according to claim 10, wherein said coupler component can be around described predetermined axial line rotation.
12. invention according to claim 1, wherein said emitter coil, described receiver coil and described reference coil are formed on the printed circuit board (PCB).
CN2008801172900A 2007-09-21 2008-09-19 Inductive position sensor Expired - Fee Related CN101868695B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US97420607P 2007-09-21 2007-09-21
US60/974,206 2007-09-21
US12/211,360 2008-09-16
US12/211,360 US7906960B2 (en) 2007-09-21 2008-09-16 Inductive position sensor
PCT/IB2008/002456 WO2009037561A2 (en) 2007-09-21 2008-09-19 Inductive position sensor

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Publication Number Publication Date
CN101868695A true CN101868695A (en) 2010-10-20
CN101868695B CN101868695B (en) 2013-03-06

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US (1) US7906960B2 (en)
JP (1) JP5055647B2 (en)
KR (1) KR101521952B1 (en)
CN (1) CN101868695B (en)
BR (1) BRPI0815935A2 (en)
DE (1) DE112008002563B4 (en)
WO (1) WO2009037561A2 (en)

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CN103403501A (en) * 2011-03-02 2013-11-20 Ksr科技公司 Steering position and torque sensor
CN104949613A (en) * 2014-03-24 2015-09-30 约翰内斯﹒海德汉博士有限公司 Scanning element for an inductive angle-measuring device
CN108602531A (en) * 2015-12-10 2018-09-28 Ksr Ip控股有限责任公司 Inductance type steering torque and angular transducer
CN112368548A (en) * 2018-05-29 2021-02-12 阿维科斯电子技术有限公司 Rotational position sensing apparatus and method
CN112639406A (en) * 2018-09-14 2021-04-09 Ksr Ip控股有限责任公司 Coupler element shape for inductive position sensor

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US9464881B2 (en) 2012-08-01 2016-10-11 Silicon Works Co., Ltd. Displacement sensor, apparatus for detecting displacement, and method thereof
KR101491471B1 (en) * 2012-08-03 2015-02-10 주식회사 실리콘웍스 Displacement sensor and method for detecting displacement using thereof
KR101347580B1 (en) * 2012-08-03 2014-01-06 한국과학기술원 Apparatus for detecting displacement and method thereof
GB2543692B (en) * 2012-10-02 2017-09-27 Anthony Howard Mark Inductive displacement detector
KR20160004323A (en) 2013-05-03 2016-01-12 케이에스알 아이피 홀딩스 엘엘씨. Micro inductive sensor
US9702416B2 (en) 2013-11-08 2017-07-11 KSR IP Holdings, LLC Linear sensor
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FR3031586B1 (en) * 2015-01-13 2017-02-10 Dymeo INDUCTIVE DISPLACEMENT SENSORS
DE102016203234B4 (en) 2016-02-29 2021-02-11 Robert Bosch Gmbh Rotation angle sensor
CN109328306B (en) * 2016-06-29 2021-11-23 阿尔法能源技术公司 Mineral insulated combined flux ring and B-DOT wire
DE112018004187T5 (en) * 2017-08-15 2020-04-30 Ksr Ip Holdings Llc Systems and methods for correcting non-sinusoidal signals generated by non-circular couplers
KR20200037329A (en) * 2017-08-29 2020-04-08 케이에스알 아이피 홀딩스 엘엘씨. Systems and methods for correcting non-sine signals generated from high-speed inductive sensors
US10921155B2 (en) 2018-02-02 2021-02-16 Microsemi Corporation Multi cycle dual redundant angular position sensing mechanism and associated method of use for precise angular displacement measurement
KR20210000316A (en) 2018-05-23 2021-01-04 케이에스알 아이피 홀딩스 엘엘씨. Inductive position sensor assembly
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US12111188B2 (en) 2021-06-11 2024-10-08 Microchip Technology Incorporated Sense coil for inductive linear-position sensing, and related devices, systems, and methods
US12031817B2 (en) 2021-08-05 2024-07-09 Microchip Technology Incorporated Inductive angular-position sensors, and related devices, systems, and methods

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CN103403501A (en) * 2011-03-02 2013-11-20 Ksr科技公司 Steering position and torque sensor
CN103403501B (en) * 2011-03-02 2015-12-23 Ksr智财控股公司 Turn to location and torque sensor
CN104949613A (en) * 2014-03-24 2015-09-30 约翰内斯﹒海德汉博士有限公司 Scanning element for an inductive angle-measuring device
CN108602531A (en) * 2015-12-10 2018-09-28 Ksr Ip控股有限责任公司 Inductance type steering torque and angular transducer
CN112368548A (en) * 2018-05-29 2021-02-12 阿维科斯电子技术有限公司 Rotational position sensing apparatus and method
CN112368548B (en) * 2018-05-29 2023-03-10 Ab电子有限公司 Rotational position sensing apparatus and method
CN112639406A (en) * 2018-09-14 2021-04-09 Ksr Ip控股有限责任公司 Coupler element shape for inductive position sensor
US11519752B2 (en) 2018-09-14 2022-12-06 KSR IP Holdings, LLC Coupler element shapes for inductive position sensors

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WO2009037561A3 (en) 2009-06-11
WO2009037561A2 (en) 2009-03-26
KR20100083152A (en) 2010-07-21
DE112008002563T5 (en) 2010-07-22
JP2010540896A (en) 2010-12-24
BRPI0815935A2 (en) 2018-10-16
DE112008002563B4 (en) 2019-05-23
JP5055647B2 (en) 2012-10-24
CN101868695B (en) 2013-03-06
US20090079422A1 (en) 2009-03-26
US7906960B2 (en) 2011-03-15
KR101521952B1 (en) 2015-05-20

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